Research Paper Engineering Volume : 5 | Issue : 8 | August 2015 | ISSN - 2249-555X

Advanced Controlling of Motor Over“Can” Protocol

& Amend Motor Speed Control Using “Can”
Protocol (Controller Area Network)

Keywords CAN protocol, CAN buses, encoder motor and UART terminal.

Yogesh V. Parmar Shivang K. Shukla

Vadodara Institute of Engineeri,Kotambi/ Vadodara Institute of Engineeri,Kotambi/
E&C Engineering, Vadodara, India E&C Engineering, Vadodara, India

Bhavesh R.Patel
Vadodara Institute of Engineeri,Kotambi/ E&C Engineering, Vadodara, India
ABSTRACT
Controlling a motor driven machines in a network is main aspect in various industries. In present situation
the industries are modifying their manual machines with automated machines. This requires the efficient controlling of
this machines connected in one network for easy user interface.To reduce the network complexity and increase the effi-
ciency we introduce our new technologycalled motor speed control using CAN protocol. Our technology consists of an
intelligent network which controls the speed of an encoder dc motor. This motor is interfaced with controller commonly
known as slave node which receives commands from the master node over CAN network. The master node controller
is interfaced with UART terminal, therefore the user can command the desired speed value. This physical value is con-
verted into logical digits and transferred to slave node through CAN buses (CAN high & CAN low). The slave node will
receive the data and rotate the motor according to the received data. Now, to verify whether the motor is rotating at
actual speed a feedback from encoder motor is taken and displayed on LCD

I. INTRODUCTION This project describes the PIC microcontroller based de-

This project is based on the speed controlling of motor us-
ing CAN protocol. The system is implemented using PIC
micro- controller. To satisfy the customer requirements for
greater safety, comfort, convenience and to cope up with
increasing demands in industries and reduced network
complexity.
The development of CAN began when more and more
electronic devices were implemented into modern motor
vehicles. Examples of such devices include engine man-
agement systems, active suspension, ABS, gear control,
lighting control, air conditioning, airbags and central lock-
ing. All these mean, more safety and more comfort for the
driving and of course a reduction of fuel consumption and
exhaust emissions.
“In advance to this, we are developing a device which
can be
Implemented to control the speed of the motor which
can be future implemented in vehicle or in robotic
cars.”
sign and Implementation of CAN Bus prototype for future
expansion in automotive. It focus on hardware and soft-
ware design of intelligent node. Hardware interface circuit
mainly consists of MCP2510 stand-alone CAN-Controller
with SPI interface, PIC16f887 microcontroller based on
16-bit CPU and MCP2551 high speed CAN Transceiver.
MCP2551 CAN Transceiver implements ISO-11898 stand-
ard physical layer requirements. The software design for
CAN bus network are mainly the design of CAN bus data
communication between nodes, and data processing for
analog signals. The design of software communication
module includes system initialization and CAN controller
initialization unit, message sending unit, message receiving
unit and the interrupt service unit.
With the use of CAN, point-to-point wiring is replaced by
one serial bus connecting all control systems. This is ac-
complished by adding some CAN-specific hardware to
each control unit that provides the “rules” or the protocol
for transmitting and receiving information via the bus.

II. OBJECTIVIES
The goal of our project is to control the speed of motor
using CAN module. We will control the speed of an op-
tical encoder motor, which is an electromechanical device
that has an electrical output in digital form which is pro-
portional to the angular Position of the shaft.

Our objective for using the CAN module is that CAN

(Controller Area Network) is a serial communications bus
for real-time control applications, which operates at data
rates of up to 1 Megabits per second, and has excellent
error detection and confinement capabilities.

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 Research Paper
Figure 1 Working of the device
This system consist of master controller and slave control-
ler which are interconnected through SPI (serial peripheral
interface) using CAN modules through CAN buses (CAN
high & CAN low). The desired speed applied by the user
at master node is transferred to the slave node through
CAN modules (MCP2510 & MCP2551).
The slave node will respond to the received data and ro-
tate the encoder motor according to the received data.
The actual speed of the motor is being continously moni-
tored by the controller. The actual rotating speed of motor
is feedbacked from the encoder motor to the controller,
which in response displayed on LCD display at slave node.
III. PROPOSED SYSTEM
Process of the system:
Figure 2 Flow of the System
1. In this system there are two main nodes (nodes can
be added) which are having the microcontroller in it to
perform the application.
2. In this system the dominant part is CAN network.
Which is connected with both node 1(master) and
node 2(slave).
3. Input to node 1 can be given through hyper terminal,
wireless keyboard, joystick etc.
4. Node 1 will be responsible to take input from user
through serial peripheral interface it will communicate
REFERENCE [1] Working of S Pen, Please visit http://www.androidauthority.com/break-it-down-how-does-the-s-pen-work-154435/ | | [2] Reference of the
current examination ,http://www.gtu.ac.in/ | | [3] Related concept of the system, http://www.youtube.com/watch?v=UxMBO5eyQG8
INDIAN JOURNAL OF APPLIED RESEARCH X 729
Volume : 5 | Issue : 8 | August 2015 | ISSN - 2249-555X
with CAN controller.
5. CAN transceivers are interfaced by the twisted pair ca-
ble, they are known as CAN high and CAN low signal.
6. This CAN high and CAN low signal are responsible for
communicating different nodes connected to a net-
work.
7. The other side of this system is node 2, in which the
application is defined. This node is interfaced with an
encoder motor and 16*4 LCD, which works as feed-
back system.
8. Here from node 1 the user will give desired speed to
node 2 through rigid CAN network.
9. The desired speed is received by node 2 will rotate
the encoder motor as per the applied speed by the
user at node 1.
10. The actual rotating speed of an encoder motor is veri-
fied by taking feedback from the encoder motor, the
feedback is generated by the angular motion of the
shaft sensed by the ray of light, which produces analog
signal.
11. This analog signal is taken as feedback and compared
with the applied speed which is also an analog signal.
The result of this comparison is displayed on the LCD.
12. Parameters are set which will display the encoder re-
volving count and RPM (rotation per minute).
IV. FEATURES
 Multi-master serial bus
 Rigid data transfer
 Low power consumption
 Faster data transfer
 Low maintenance
 Secured data transfer
 Compact design
V. ADVANTAGES
 Organized and sophisticated compared to
current point to point communication.
 Reduction in weight and cost of wiring
looms/harnesses.
 Can handle multiple controllers simultane-
ously.
 Works in Real Time.
 Can be used in various applications.
VI. FUTURE SCOPE
This system can be enhanced by employ it into a car by
controlling its speed. We can also use this system into
medical equipment and devices, where the rigidness is
very much important.
VII. CONCLUSION
This device is more flexible, time saving, secured and ac-
curate for the examination system. The ultimate aim is for
Smart E-Supplementary to automate the real time exami-
nation system and eliminate the problems of current exam-
ination system by using intelligent device.